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EP1511666B1 - Electronically commutable motor - Google Patents

Electronically commutable motor Download PDF

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Publication number
EP1511666B1
EP1511666B1 EP03739365A EP03739365A EP1511666B1 EP 1511666 B1 EP1511666 B1 EP 1511666B1 EP 03739365 A EP03739365 A EP 03739365A EP 03739365 A EP03739365 A EP 03739365A EP 1511666 B1 EP1511666 B1 EP 1511666B1
Authority
EP
European Patent Office
Prior art keywords
field winding
semiconductor switches
motor
winding
motor according
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP03739365A
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German (de)
French (fr)
Other versions
EP1511666A1 (en
Inventor
Ralph Tobias
Stefan Beyer
Joerg Sutter
Ingo Immendoerfer
Heiko Frey
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
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Publication date
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Publication of EP1511666A1 publication Critical patent/EP1511666A1/en
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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
    • B62D5/0484—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures for reaction to failures, e.g. limp home
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
    • B62D5/0487—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures detecting motor faults
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/40—Testing power supplies
    • G01R31/42—AC power supplies

Definitions

  • the invention relates to an electronically commutatable motor, as in the older example DE patent application 100 644 86.4 is described. There, the electronic control of the engine is discussed in detail. These explanations also apply to the electronically commutatable motor proposed here, which is why details in the explanation of the engine control in the present application will not be discussed again in detail.
  • the reason for the use of the electronically commutatable motor in the present invention is therefore not primarily the wear-free and low-maintenance design due to lack of abrasive brushes but in addition to the influenceable by the control low torque ripple especially the control of the occurrence of a fault in a component of the engine control or in the engine itself, especially with respect to a short circuit in the winding, with short circuit currents occur, which are in the order of the rated currents and dangerous Exercise moments on the drive.
  • such errors can lead to, for example, in an electric power steering not only the steering assistance fails, but even a counter-torque is generated, which makes the steerability of a vehicle virtually impossible.
  • an electric power steering drive for a vehicle which has a brushless electric motor, the three of which are connected together at a common star point strands of the field winding via a half-bridge circuit.
  • a brushless electric motor the three of which are connected together at a common star point strands of the field winding via a half-bridge circuit.
  • at least one of the strands can be separated via an additional switching means.
  • a particularly suitable for the purposes of the invention control option for the motor results when using a full bridge circuit for the commutation, wherein the strands of the exciter winding are individually connected to the DC voltage source. Due to the individual controllability of the strings of the field winding an emergency operation can be ensured in a very advantageous manner, both when an error occurs in the commutation as well as an error in a strand of the field winding. An error in the commutation or in a strand of the winding leads to a braking torque here.
  • the disturbance can be switched off by opening the defective string and the operation of the motor in the event of a fault in a semiconductor component 2/3 of its performance will continue.
  • the disturbance can not be switched off, as in the star connection of the winding, but the compensation of the resulting braking torque is possible to a higher extent than in the star connection of the winding, because only one strand is affected.
  • FIG. 1 is denoted by 10 equipped with permanent magnets rotor of an electronically commutated motor whose three-phase exciter winding is arranged in the stator.
  • the winding strands are denoted by 12,14 and 16 and connected in star via MOSFET switches 18,20,22.
  • the phase currents I 1 , I 2 , I 3 which are called via a six-pulse half-bridge circuit, also called B6 circuit, flow.
  • the commutation arrangement is also formed by MOSFET switches, which carry the reference numerals 24, 26, 28 and 30, 32, 34, respectively.
  • the supply voltages and the control commands receive the MOSFET switches 24-34 of the commutation as well as the MOSFET switches 18-22 of the star point circuit of a motor controller 36, which is connected between a DC voltage source 38 and the inputs of the commutation.
  • the electronically commutatable motor with the excitation winding in the stator and a rotor 10 carrying permanent magnets is also referred to as a brushless DC motor (BLDC motor).
  • BLDC motor brushless DC motor
  • Such an engine including its control is already mentioned in the beginning DE-100 644 86.4 already very well discussed and generally known. On the complete repetition of the description of the structure and the control of the engine should therefore be omitted in the present application, are explained only those for its use as a drive motor safety-critical auxiliary drive in a motor vehicle, preferably as
  • the MOSFET switches 18,20,22 closed and form the neutral point for the winding strands 12,14,16.
  • the size and the course of the phase currents I 1 , I 2 , I 3 is controlled via the MOSFET switches 24, 26, 28 and 30, 32 and 34 by a pulse width modulation originating from the motor control 36.
  • the respective phase current I 1 , I 2 , I 3 is conducted via the neutral point and via three measuring resistors 40, 42, 44 to the negative pole of the DC voltage source 38.
  • phase currents I 1 , I 2 , I 3 are determined by the motor controller 36, wherein, for example, the phase current I 1 at clocked MOSFET switch 24 with the predetermined by the timing course through the MOSFET switch 32 and the resistor 42 back to negative pole of the DC voltage source passes.
  • the freewheeling circuit in the pauses caused by the current flow pauses closes on the winding strands 12 and 14 and the two MOSFET switches 30 and 32.
  • the switch 32 is conductive in this period, the MOSFET switch 30 results in either a passive freewheel on the integrated Inverse diode or an active freewheel by pulsed switching in the current-cut pauses of the MOSFET switch 24. Accordingly, the phase currents I 2 and I 3 are controlled.
  • Errors during operation of the motor can occur in particular due to an error in one of the semiconductor switches of the commutation arrangement or due to a short circuit in one of the winding phases.
  • a current through the inverse diode of the MOSFET switches 26 and 28 and generates a braking torque which leads to the use of the drive for an electric power steering in a motor vehicle practically unintelligibility of the vehicle.
  • a remedy is provided by the separation of the star point of the winding strands 12,14,16 by means of the MOSFET switch 18.
  • the disturbance is thereby turned off and the drive remains functional, albeit with reduced power.
  • a braking torque is generated due to the induced voltage, although the disconnection of the disturbance variable by the separation of the winding star point is not possible.
  • a remedy in this accident created by the fact that at least one braking torque can be compensated by the separation of the neutral point by means of the MOSFET switches 18-22, which would counteract in the case of use of the engine in a motor vehicle power steering the steering force of the driver. As a result, the unsupported steering effect is maintained.
  • FIG. 2 also shows an electronically commutatable motor with a three-phase excitation winding in the stator and a permanent magnetically excited rotor.
  • the same reference numerals are used.
  • FIG. 1 a full bridge circuit of semiconductor switches 46-68, also called 3H circuit, provided for commutation of the winding strands 12,14 and 16.
  • the winding phases are individually connected to the DC voltage source 38 and separable from it, resulting in even more possibilities of error compensation than in the circuit arrangement according to FIG.
  • FIG. 3 corresponds largely to those in FIG. 2 and will not be described again. Same Parts in the Figures 2 and 3 are provided with the same reference numerals. Notwithstanding the arrangement in FIG. 2 However, the winding strands 12, 14 and 16 are not inserted directly into the shunt branches of the full-bridge commutation circuit here, but on both sides of the winding strands 12, 14 and 16 is an additional MOSFET switch 70,72; 74,76; 78,80, wherein the two semiconductor strand additionally assigned to each winding strand are each inserted in the transverse branch with opposite forward direction. In this way, especially with the use of MOSFET semiconductor switches with their integrated inverse diodes, the possibility of separating each bridge branch and thus the separation of the associated winding strand. This separation replaces the star point separation in an arrangement accordingly FIG. 1 ,
  • the motor circuit according to the invention FIG. 3 thus offers the possibility of switching off a fault current which generates a moment counteracting the intended drive direction.
  • the full bridge circuit has the particular advantage that each strand can be controlled separately, which can be canceled in the case of a fault in a final stage, the resulting braking torque on the other two bridge arms and emergency operation can be enabled. Furthermore, in the case of the full-bridge circuit, it is also possible to compensate for a turn-off in a winding strand. Further, in the full-bridge circuit, the current signals can be directly assigned to the corresponding string since each string is measured separately, and the waveform of the string current can be set separately for each string without overhead, thereby significantly increasing the possibility of compensation in the event of a fault.
  • the commutation arrangement is described in each case using MOSFET switches as semiconductor components.
  • MOSFET switches are due to their low power loss and high interference immunity, but also because of the uncritical supply voltage and the good circuit integrity in addition to the use in the commutation also very good for the separation of the neutral point.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Power Steering Mechanism (AREA)

Description

Stand der TechnikState of the art

Die Erfindung betrifft einen elektronisch kommutierbaren Motor, wie er beispielsweise in der älteren DE-Patentanmeldung 100 644 86.4 beschrieben ist. Dort ist auch die elektronische Steuerung des Motors detailliert erörtert. Diese Ausführungen treffen auch auf den hier vorgeschlagenen elektronisch kommutierbaren Motor zu, weshalb auf Einzelheiten bei der Erläuterung der Motorsteuerung in der vorliegenden Anmeldung nicht nochmal im Detail eingegangen wird.The invention relates to an electronically commutatable motor, as in the older example DE patent application 100 644 86.4 is described. There, the electronic control of the engine is discussed in detail. These explanations also apply to the electronically commutatable motor proposed here, which is why details in the explanation of the engine control in the present application will not be discussed again in detail.

Das in der DE-Patentanmeldung 100 644 86.4 beschriebene Verfahren richtet sich speziell auf die Ermittlung der Rotorposition des Elektromotors, nicht auf besonders vorteilhafte, durch seine Bauweise und Ansteuerungsart ermöglichte Anwendungsformen. Diese sind Gegenstand der vorliegenden Anmeldung, welche sich auf die Verwendung des gattungsgemäßen Motors als Antriebsmotor für sicherheitskritische Nebenantriebe in Kraftfahrzeugen bezieht, insbesondere auf die Anwendung als Antriebsmotor einer elektrischen Lenkhilfe. Aufbau und Steuerung eines derartigen Motors erfüllen die Anforderungen an das Sicherheitskonzept der Antriebe, welches vorsieht, dass der Motor im Fehlerfall so beeinflusst werden kann, dass er kein die Sicherheit des Kraftfahrzeuges beeinträchtigendes Moment, insbesondere kein Bremsmoment bei der Betätigung der Lenkung eines Kraftfahrzeuges ausübt. Grund für die Verwendung des elektronisch kommutierbaren Motors ist bei der vorliegenden Erfindung daher auch nicht in erster Linie die verschleißfreie und wartungsarme Bauform aufgrund fehlender Schleifbürsten sondern neben der durch die Steuerung beeinflussbaren geringen Momentenwelligkeit besonders die Steuerungsmöglichkeit beim Auftreten eines Fehlers in einem Bauelement der Motorsteuerung oder im Motor selbst, insbesondere hinsichtlich eines Kurzschlusses in der Wicklung, wobei Kurzschlussströme auftreten, welche in der Größenordnung der Nennströme liegen und gefährliche Momente auf den Antrieb ausüben. Insbesondere können derartige Fehler dazu führen, dass beispielsweise bei einer elektrischen Lenkhilfe nicht nur die Lenkunterstützung ausfällt, sondern sogar ein Gegenmoment erzeugt wird, welches die Lenkbarkeit eines Fahrzeuges praktisch unmöglich macht.That in the DE patent application 100 644 86.4 The method described is directed specifically to the determination of the rotor position of the electric motor, not particularly advantageous, by its construction and Ansteuerungsart enabled applications. These are the subject of the present application, which relates to the use of the generic motor as a drive motor for safety-critical auxiliary drives in motor vehicles, in particular to the application as a drive motor of an electric power steering. Design and control of such an engine meet the requirements of the safety concept of the drives, which provides that the engine can be influenced in case of failure so that it does not impair the safety of the motor vehicle influencing moment, in particular no braking torque when operating the steering of a motor vehicle. The reason for the use of the electronically commutatable motor in the present invention is therefore not primarily the wear-free and low-maintenance design due to lack of abrasive brushes but in addition to the influenceable by the control low torque ripple especially the control of the occurrence of a fault in a component of the engine control or in the engine itself, especially with respect to a short circuit in the winding, with short circuit currents occur, which are in the order of the rated currents and dangerous Exercise moments on the drive. In particular, such errors can lead to, for example, in an electric power steering not only the steering assistance fails, but even a counter-torque is generated, which makes the steerability of a vehicle virtually impossible.

Aus der US 6,194,849 B1 ist diesbezüglich ein elektrischer Lenkhilfeantrieb für ein Fahrzeug bekannt, der einen bürstenlosen Elektromotor aufweist, dessen drei an einem gemeinsamen Sternpunkt zusammen geschaltete Stränge der Erregerwicklung über eine Halbbrückenschaltung angesteuert werden. Um die Sicherheit des Lenkhilfeantriebs zu gewährleisten, ist im Fehlerfall mindestens einer der Stränge über ein zusätzliches Schaltmittel auftrennbar.From the US 6,194,849 B1 in this regard, an electric power steering drive for a vehicle is known, which has a brushless electric motor, the three of which are connected together at a common star point strands of the field winding via a half-bridge circuit. In order to ensure the safety of the power steering drive, in case of failure at least one of the strands can be separated via an additional switching means.

Weiterhin ist aus der EP 0 340 044 A2 ein elektrischer Lenkhilfeantrieb für ein Fahrzeug bekannt, bei dem die Stränge der Erregerwicklung des Elektromotors über eine Vollbrückenschaltung angesteuert werden, wobei eine Unterbrechung der Versorgung des Motors im Fehlerfall über einen zusätzlichen Unterbrecher erfolgt, der zwischen der Vollbrückenschaltung und einer Batterie des Fahrzeugs angeordnet ist.Furthermore, from the EP 0 340 044 A2 an electric power steering drive for a vehicle, in which the strands of the excitation winding of the electric motor are driven via a full bridge circuit, wherein an interruption of the supply of the motor in case of failure takes place via an additional breaker which is arranged between the full bridge circuit and a battery of the vehicle.

Statt der Verwendung eines zusätzlichen Unterbrechers erfolgt das Sicherheitskonzept des in der EP 0 800 979 A2 gezeigten Elektromotors eines Lenkhilfeantriebs unmittelbar durch eine entsprechende Ansteuerung der pulsweitenmodulierten Halbleiterschalter einer den Motorstrang ansteuernden Vollbrückenschaltung. Ein vergleichbares Sicherheitskonzept in Verbindung mit einer Vollbrückenschaltung ist auch aus der US 5 659 472 bekannt.Instead of using an additional breaker, the security concept of the EP 0 800 979 A2 shown electric motor of a power steering drive directly by a corresponding control of the pulse width modulated semiconductor switch of the motor train driving full bridge circuit. A similar safety concept in connection with a full bridge circuit is also from the US 5,659,472 known.

Die Erfindung ist durch die Merkmale des Anspruchs 1 definiert Bevorzugte Ausgestaltungen sind in den abhängigen Ansprüchen definiert.The invention is defined by the features of claim 1. Preferred embodiments are defined in the dependent claims.

Eine im Sinne der Erfindung besonders zweckmäßige Ansteuerungsmöglichkeit für den Motor ergibt sich bei Verwendung einer Vollbrückenschaltung für die Kommutierungsanordnung, wobei die Stränge der Erregerwicklung einzeln an die Gleichspannungsquelle anschließbar sind. Durch die einzelne Ansteuerbarkeit der Stränge der Erregerwicklung kann in sehr vorteilhafter Weise ein Notlaufbetrieb sichergestellt werden, und zwar sowohl beim Auftreten eines Fehlers in der Kommutierungsanordnung als auch bei einem Fehler in einem Strang der Erregerwicklung. Ein Fehler in der Kommutierungseinrichtung oder in einem Strang der Wicklung führt auch hier zu einem Bremsmoment. Durch die Möglichkeit, einen einzelnen fehlerhaften Zweig der Kommutierungsanordnung unabhängig von den anderen Strängen mit Hilfe zusätzlicher Halbleiterschalter, vorzugsweise mittels MOSFET-Schalter, zu öffnen, kann bei einem Fehler in einem Halbleiterbauelement die Störgröße durch Öffnen des defekten Strangs abgeschaltet und der Betrieb des Motors mit 2/3 seiner Leistung fortgesetzt werden. Beim Auftreten eines Fehlers in einem Strang der Wicklung kann zwar ebenso wie bei der Sternschaltung der Wicklung die Störgröße nicht abgeschaltet werden, die Kompensation des entstehenden Bremsmomentes ist jedoch zu einem höheren Anteil als bei der Sternschaltung der Wicklung möglich, weil nur ein Strang betroffen ist.A particularly suitable for the purposes of the invention control option for the motor results when using a full bridge circuit for the commutation, wherein the strands of the exciter winding are individually connected to the DC voltage source. Due to the individual controllability of the strings of the field winding an emergency operation can be ensured in a very advantageous manner, both when an error occurs in the commutation as well as an error in a strand of the field winding. An error in the commutation or in a strand of the winding leads to a braking torque here. Due to the possibility of opening a single defective branch of the commutation arrangement independently of the other strings by means of additional semiconductor switches, preferably by means of MOSFET switches, the disturbance can be switched off by opening the defective string and the operation of the motor in the event of a fault in a semiconductor component 2/3 of its performance will continue. When an error occurs in one branch of the winding, the disturbance can not be switched off, as in the star connection of the winding, but the compensation of the resulting braking torque is possible to a higher extent than in the star connection of the winding, because only one strand is affected.

Weitere Einzelheiten und vorteilhafte Weiterbildungen des erfindungsgemäßen Motors ergeben sich aus der folgenden Beschreibung dreier Ausführungsbeispiele und den zugehörigen Figuren.Further details and advantageous developments of the motor according to the invention will become apparent from the following description of three embodiments and the accompanying figures.

Diese zeigen in

  • Figur 1 eine mit Halbleiterschaltern bestückte Halbbrücken-Kommutierungsanordnung für die zu einem auftrennbaren Sternpunkt zusammengeschalteten Wicklungsstränge nach dem Stand der Technik und in Figur 2 eine ebenfalls aus dem Stand der Technik bekannte Schaltungsanordnung für einen elektronisch kommutierbaren Motor, dessen Wicklungsstränge einzeln über eine Vollbrücken-Kommutierungsanordnung mit einer Gleichspannungsquelle verbindbar sind.
  • Figur 3 zeigt ein Ausführungsbeispiel einer erfindungsgemäßen Vollbrücken-Kommutierungsanordnung, bei der die Stränge der Erregerwicklung des Motors im Falle eines Windungsschlusses oder eines Fehlers in den Halbleiterschaltern der Kommutierungsanordnung über zusätzliche Halbleiterschalter abschaltbar sind.
These show in
  • FIG. 1 a half-bridge commutation arrangement equipped with semiconductor switches for the winding strands interconnected to form a separable star point according to the prior art and in US Pat FIG. 2 a likewise known from the prior art circuit arrangement for an electronically commutated motor, the winding strands individually via a full-bridge commutation can be connected to a DC voltage source.
  • FIG. 3 shows an embodiment of a full-bridge commutation according to the invention, in which the strands of the field winding of the motor in the case of a short circuit or a fault in the semiconductor switches of the commutation can be switched off via additional semiconductor switches.

Ausführungsbeispieleembodiments

In Figur 1 ist mit 10 der mit Dauermagneten bestückte Rotor eines elektronisch kommutierbaren Motors bezeichnet, dessen dreisträngige Erregerwicklung im Stator angeordnet ist. Die Wicklungsstränge sind mit 12,14 und 16 bezeichnet und über MOSFET-Schalter 18,20,22 im Stern geschaltet. In den Wicklungssträngen 12,14 und 16 fließen die Phasenströme I1, I2, I3, welche über eine sechspulsige Halbbrückenschaltung, auch B6-Schaltung genannt, gesteuert werden. Die Kommutierungsanordnung wird ebenfalls durch MOSFET-Schalter gebildet, welche die Bezugszeichen 24, 26, 28 beziehungsweise 30, 32, 34 tragen. Die Versorgungsspannungen und die Steuerbefehle erhalten die MOSFET-Schalter 24-34 der Kommutierungsanordnung ebenso wie die MOSFET-Schalter 18-22 der Sternpunktschaltung von einer Motorsteuerung 36, welche zwischen eine Gleichspannungsquelle 38 und die Eingänge der Kommutierungsanordnung geschaltet ist.In FIG. 1 is denoted by 10 equipped with permanent magnets rotor of an electronically commutated motor whose three-phase exciter winding is arranged in the stator. The winding strands are denoted by 12,14 and 16 and connected in star via MOSFET switches 18,20,22. In the winding strands 12,14 and 16, the phase currents I 1 , I 2 , I 3 , which are called via a six-pulse half-bridge circuit, also called B6 circuit, flow. The commutation arrangement is also formed by MOSFET switches, which carry the reference numerals 24, 26, 28 and 30, 32, 34, respectively. The supply voltages and the control commands receive the MOSFET switches 24-34 of the commutation as well as the MOSFET switches 18-22 of the star point circuit of a motor controller 36, which is connected between a DC voltage source 38 and the inputs of the commutation.

Der elektronisch kommutierbare Motor mit der Erregerwicklung im Stator und einem Permanentmagnete tragenden Rotor 10 wird auch als bürstenloser Gleichstrommotor (BLDC-Motor) bezeichnet. Ein derartiger Motor einschließlich seiner Steuerung ist in der eingangs bereits genannten DE- 100 644 86.4 bereits sehr ausfühlich erörtert und grundsätzlich auch bekannt. Auf die vollständige Wiederholung der Beschreibung des Aufbaus und der Ansteuerung des Motors soll daher in der vorliegenden Anmeldung verzichtet werden, erläutert werden lediglich die für seine Verwendung als Antriebsmotor eines sicherheitskritischen Nebenantriebes in einem Kraftfahrzeug, vorzugsweise alsThe electronically commutatable motor with the excitation winding in the stator and a rotor 10 carrying permanent magnets is also referred to as a brushless DC motor (BLDC motor). Such an engine including its control is already mentioned in the beginning DE-100 644 86.4 already very well discussed and generally known. On the complete repetition of the description of the structure and the control of the engine should therefore be omitted in the present application, are explained only those for its use as a drive motor safety-critical auxiliary drive in a motor vehicle, preferably as

Antriebsmotor einer elektrischen Fahrzeuglenkung, wesentlichen Bestandteile und Schaltungsmerkmale, also die Maßnahmen und Möglichkeiten zur Auftrennung bei Halbleiter- oder Wicklungsdefekten.Drive motor of an electric vehicle steering, essential components and circuit characteristics, so the measures and options for separation in semiconductor or winding defects.

Bei der Schaltungsanordnung gemäß Figur 1 sind im ungestörten Betrieb die MOSFET-Schalter 18,20,22 geschlossen und bilden den Sternpunkt für die Wicklungsstränge 12,14,16. Die Größe und der Verlauf der Phasenströme I1,I2,I3 wird über die MOSFET-Schalter 24,26,28 sowie 30,32 und 34 durch eine von der Motorsteuerung 36 ausgehende Pulsweitenmodulation geregelt. Hierbei wird der jeweilige Phasenstrom I1,I2,I3 über den Sternpunkt und über drei Messwiderstände 40,42,44 zum Minuspol der Gleichspannungsquelle 38 geleitet.In the circuit arrangement according to FIG. 1 are undisturbed operation, the MOSFET switches 18,20,22 closed and form the neutral point for the winding strands 12,14,16. The size and the course of the phase currents I 1 , I 2 , I 3 is controlled via the MOSFET switches 24, 26, 28 and 30, 32 and 34 by a pulse width modulation originating from the motor control 36. In this case, the respective phase current I 1 , I 2 , I 3 is conducted via the neutral point and via three measuring resistors 40, 42, 44 to the negative pole of the DC voltage source 38.

Im ungestörten Betrieb des Motors sind die drei MOSFET-Schalter 18,20 und 22 geschlossen und definieren den Sternpunkt der Erregerwicklung. Die Phasenströme I1, I2, I3 werden durch die Motorsteuerung 36 bestimmt, wobei zum Beispiel der Phasenstrom I1 bei getaktetem MOSFET-Schalter 24 mit dem durch die Taktung vorgegebenen Verlauf über den leitenden MOSFET-Schalter 32 und den Widerstand 42 zurück zum negativen Pol der Gleichspannungsquelle gelangt. Der Freilaufstromkreis in den durch die Taktung bedingten Stromflusspausen schließt sich über die Wicklungsstränge 12 und 14 sowie die beiden MOSFET-Schalter 30 und 32. Der Schalter 32 ist in diesem Zeitraum leitend, beim MOSFET-Schalter 30 ergibt sich entweder ein passiver Freilauf über die integrierte Inversdiode oder ein aktiver Freilauf durch gepulstes Einschalten in den Stromschlusspausen des MOSFET Schalters 24. Entsprechend werden die Phasenströme I2 und I3 gesteuert.In undisturbed operation of the motor, the three MOSFET switches 18,20 and 22 are closed and define the star point of the field winding. The phase currents I 1 , I 2 , I 3 are determined by the motor controller 36, wherein, for example, the phase current I 1 at clocked MOSFET switch 24 with the predetermined by the timing course through the MOSFET switch 32 and the resistor 42 back to negative pole of the DC voltage source passes. The freewheeling circuit in the pauses caused by the current flow pauses closes on the winding strands 12 and 14 and the two MOSFET switches 30 and 32. The switch 32 is conductive in this period, the MOSFET switch 30 results in either a passive freewheel on the integrated Inverse diode or an active freewheel by pulsed switching in the current-cut pauses of the MOSFET switch 24. Accordingly, the phase currents I 2 and I 3 are controlled.

Fehler beim Betrieb des Motors können insbesondere auftreten durch einen Fehler in einem der Halbleiterschalter der Kommutierungsanordnung oder durch einen Windungsschluss in einem der Wicklungsstränge. Beispielsweise bei einem Durchlegieren des MOSFET-Schalters 24 fließt aufgrund der durch die Drehung des Motors induzierten Spannungen in den Wicklungssträngen 12,14 und 16 ein Strom über die Inversdiode der MOSFET-Schalter 26 und 28 und erzeugt ein Bremsmoment, welches bei der Verwendung des Antriebes für eine elektrische Lenkhilfe in einem Kraftfahrzeug praktisch zur Unlenkbarkeit des Fahrzeuges führt. Hiergegen wird gemäß dem Stand der Technik Abhilfe geschaffen durch die Auftrennung des Sternpunktes der Wicklungsstränge 12,14,16 mittels des MOSFET-Schalters 18. Die Störgröße wird hierdurch abgeschaltet und der Antrieb bleibt funktionsfähig, wenn auch mit reduzierter Leistung. Beim Auftreten eines Windungsschlusses beispielsweise im Wicklungsstrang 16 entsteht ein Bremsmoment aufgrund der induzierten Spannung, wobei allerdings die Abschaltung der Störgröße durch die Auftrennung des Wicklungsternpunktes nicht möglich ist. Abhilfe wird in diesem Störfall jedoch dadurch geschaffen, dass durch die Auftrennung des Sternpunktes mit Hilfe der MOSFET-Schalter 18-22 zumindest ein Bremsmoment kompensiert werden kann, welches im Falle der Verwendung des Motors bei einer Kraftfahrzeug-Lenkhilfe der Lenkkraft des Fahrzeugführers entgegenwirken würde. Hierdurch bleibt die nicht unterstützte Lenkwirkung erhalten.Errors during operation of the motor can occur in particular due to an error in one of the semiconductor switches of the commutation arrangement or due to a short circuit in one of the winding phases. For example, when alloying the MOSFET switch 24 flows due to the by the rotation of the Motors induced voltages in the winding strands 12,14 and 16, a current through the inverse diode of the MOSFET switches 26 and 28 and generates a braking torque, which leads to the use of the drive for an electric power steering in a motor vehicle practically unintelligibility of the vehicle. Against this, a remedy is provided by the separation of the star point of the winding strands 12,14,16 by means of the MOSFET switch 18. The disturbance is thereby turned off and the drive remains functional, albeit with reduced power. Upon the occurrence of a short circuit, for example in the winding section 16, a braking torque is generated due to the induced voltage, although the disconnection of the disturbance variable by the separation of the winding star point is not possible. A remedy in this accident, however, created by the fact that at least one braking torque can be compensated by the separation of the neutral point by means of the MOSFET switches 18-22, which would counteract in the case of use of the engine in a motor vehicle power steering the steering force of the driver. As a result, the unsupported steering effect is maintained.

Die Anordnung in Figur 2 zeigt ebenfalls einen elektronisch kommutierbaren Motor mit dreisträngiger Erregerwicklung im Stator und permanentmagnetisch erregtem Rotor. Für gleiche Teile wie in Figur 1 sind daher gleiche Bezugszeichen verwendet. Abweichend von der Schaltungsanordnung in Figur 1 ist in Figur 2 eine Vollbrückenschaltung aus Halbleiterschaltern 46-68, auch 3H-Schaltung genannt, zur Kommutierung der Wicklungsstränge 12,14 und 16 vorgesehen. Hierdurch sind die Wicklungsstränge einzeln an die Gleichspannungsquelle 38 anschließbar und von ihr trennbar, wodurch sich noch weitergehende Möglichkeiten der Fehlerkompensation als bei der Schaltungsanordnung gemäß Figur 1 ergeben, bei welcher zur getrennten Steuerung der Wicklungsstränge drei, bei einer Vollbrückenschaltung grundsätzlich vorhandene, einzelne Treiber statt einem gemeinsamen B6-Brückentreiber erforderlich sind. Weiterhin können auch bei der Anordnung gemäß Figur 2 die Verluste aufgrund der Freilaufströme in den Kommutierungspausen durch einen aktiven Freilauf deutlich reduziert werden, wenn der Freilaufstrom über den jeweils zugeordneten, mit der Taktfrequenz eingeschalteten MOSFET-Schalter geführt wird. Beispielsweise müsste dann bei einem durch den MOSFET-Schalter 46 getakteten Strangstrom I1 der MOSFET-Schalter 58 jeweils entsprechend der Taktfrequenz in den Stromflusspausen leitend geschaltet werden, sodass sich der Freilaufstrom des Wicklungsstrangs 12 über den in diesem Zeitintervall dauernd eingeschalteten MOSFET-Schalter 60 und den getaktet leitend geschalteten MOSFET-Schalter 58 ausgleichen kann. Die Taktung in den MOSFET-Schaltern kann analog zu der Taktung der MOSFET-Schalter in Figur 1 so gewählt, dass sich die gewünschte Stromform ergibt, um die Momentenwelligkeit zu minimieren.The arrangement in FIG. 2 also shows an electronically commutatable motor with a three-phase excitation winding in the stator and a permanent magnetically excited rotor. For the same parts as in FIG. 1 Therefore, the same reference numerals are used. Notwithstanding the circuit arrangement in FIG. 1 is in FIG. 2 a full bridge circuit of semiconductor switches 46-68, also called 3H circuit, provided for commutation of the winding strands 12,14 and 16. As a result, the winding phases are individually connected to the DC voltage source 38 and separable from it, resulting in even more possibilities of error compensation than in the circuit arrangement according to FIG. 1 result, in which the separate control of the winding strands three, in a full bridge circuit basically existing, individual drivers instead of a common B6 bridge driver are required. Furthermore, in the arrangement according to FIG. 2 the losses be significantly reduced due to the freewheeling currents in the Kommutierungspausen by an active freewheel, when the freewheeling current over the respectively associated, with the clock frequency switched MOSFET switch is performed. For example, would then be switched at a clocked by the MOSFET switch 46 strand current I 1 of the MOSFET switch 58 respectively corresponding to the clock frequency in the current flow pauses, so that the freewheeling current of the winding 12 via the permanently switched in this time interval MOSFET switch 60 and the clocked conductive MOSFET switch 58 can compensate. The clocking in the MOSFET switches can be analogous to the timing of the MOSFET switch in FIG. 1 chosen so that the desired current shape results in order to minimize the torque ripple.

Tritt bei der Schaltungsanordnung gemäß Figur 2 beispielsweise ein Fehler im MOSFET-Schalter 46 auf, durch welchen dieser dauernd leitend wird, dann fließt über diesen und den Wicklungsstrang 12 sowie die Inversdiode des MOSFET-Schalters 48 ein Strom, welcher in der Antriebsanordnung ein Bremsmoment bewirkt. Hier eröffnet die Vollbrückenschaltung nun die Möglichkeit, ohne Abschaltung der Störgröße das Bremsmoment zu kompensieren, sodass der Antrieb mit einem Teil seiner Leistung über die beiden ungestörten Wicklungsstränge 14 und 16 weiterbetrieben werden kann.Occurs in the circuit according to FIG. 2 For example, a fault in the MOSFET switch 46 through which this is permanently conductive, then flows through this and the winding strand 12 and the inverse diode of the MOSFET switch 48, a current which causes a braking torque in the drive assembly. Here, the full bridge circuit now opens the possibility to compensate for the braking torque without switching off the disturbance, so that the drive with a portion of its power on the two undisturbed winding strands 14 and 16 can continue to operate.

Besteht der aufgetretene Fehler in einem Windungsschluss, beispielsweise im Wicklungsstrang 12, so ist eine Abschaltung der Störgröße nicht möglich und es bildet sich ein Bremsmoment aus. Da jedoch nur ein Strang betroffen ist und die beiden anderen Stränge des Motors ungestört sind, kann das entstehende Bremsmoment durch die beiden intakten Wicklungsstränge kompensiert werden, derart, dass die nicht unterstützte Lenkwirkung erhalten bleibt.If the fault has occurred in a winding short circuit, for example in winding phase 12, it is not possible to switch off the disturbance variable and a braking torque is formed. However, since only one strand is affected and the other two strands of the engine are undisturbed, the resulting braking torque can be compensated by the two intact winding strands, so that the unsupported steering effect is maintained.

Die erfindungsgemäße Anordnung in Figur 3 entspricht weitgehend derjenigen in Figur 2 und wird insoweit nicht nochmals beschrieben. Gleiche Teile in den Figuren 2 und 3 sind mit gleichen Bezugszeichen versehen. Abweichend von der Anordnung in Figur 2 sind jedoch die Wicklungsstränge 12, 14 und 16 hier nicht direkt in die Querzweige der Vollbrücken-Kommutierungsschaltung eingefügt, sondern beiderseits der Wicklungsstränge 12, 14 und 16 liegt jeweils ein zusätzlicher MOSFET-Schalter 70,72;74,76;78,80, wobei die beiden jedem Wicklungsstrang zusätzlich zugeordneten Halbleiterschalter jeweils mit entgegengesetzter Durchlassrichtung in den Querzweig eingefügt sind. Auf diese Weise besteht speziell bei der Verwendung von MOSFET-Halbleiterschaltern mit ihren integrierten Inversdioden die Möglichkeit der Auftrennung jedes einzelnen Brückenzweiges und somit der Abtrennung des zugehörigen Wicklungsstrangs. Diese Auftrennung ersetzt die Sternpunktauftrennung bei einer Anordnung entsprechend Figur 1.The inventive arrangement in FIG. 3 corresponds largely to those in FIG. 2 and will not be described again. Same Parts in the Figures 2 and 3 are provided with the same reference numerals. Notwithstanding the arrangement in FIG. 2 However, the winding strands 12, 14 and 16 are not inserted directly into the shunt branches of the full-bridge commutation circuit here, but on both sides of the winding strands 12, 14 and 16 is an additional MOSFET switch 70,72; 74,76; 78,80, wherein the two semiconductor strand additionally assigned to each winding strand are each inserted in the transverse branch with opposite forward direction. In this way, especially with the use of MOSFET semiconductor switches with their integrated inverse diodes, the possibility of separating each bridge branch and thus the separation of the associated winding strand. This separation replaces the star point separation in an arrangement accordingly FIG. 1 ,

Tritt bei der erfindungsgemäßen Schaltungsanordnung gemäß Figur 3 beispielsweise wiederum ein Fehler im MOSFET-Schalter 46 auf, durch welchen dieser dauernd leitend wird, so kann über den Wicklungsstrang 12 und die Inversdiode des MOSFET-Schalters 48 kein Fehlerstrom mehr fließen, weil dieser Stromkreis durch den zwischengeschalteten, nichtleitenden MOSFET-Schalter 70 unterbrochen ist. Entspechendes gilt beim Auftreten von Fehlern in den sonstigen MOSFET-Schaltern der Kommutierungsanordnung. Mit den zusätzlichen Maßnahmen gemäß der Schaltungsanordnung in Figur 3 eröffnet also die MOSFET-Vollbrückenschaltung nunmehr die Möglichkeit, die zusätzlichen Halbleiterschalter 70-80 in den Brückenquerzweigen zu öffnen und damit die Störgröße abzuschalten, sodass ein Bremsmoment erst gar nicht mehr auftreten kann und demzufolge eine höhere Leistung, beispielsweise für die Servolenkung eines Kraftfahrzeuges, zur Verfügung steht.Occurs in the inventive circuit arrangement according to FIG. 3 For example, again a fault in the MOSFET switch 46, through which this is constantly conductive, so no residual current can flow through the winding 12 and the inverse diode of the MOSFET switch 48, because this circuit interrupted by the interposed, non-conductive MOSFET switch 70 is. This is true when errors occur in the other MOSFET switches of the commutation. With the additional measures according to the circuit arrangement in FIG. 3 So opens the MOSFET full bridge circuit now the ability to open the additional semiconductor switches 70-80 in the bridge branches and thus turn off the disturbance, so that a braking torque can not occur at all and therefore a higher performance, for example, for the power steering of a motor vehicle Available.

Besteht der aufgetretene Fehler in einem Windungsschluss, beispielsweise im Wicklungsstrang 12, so ist zwar eine Abschaltung der Störgröße durch das Öffnen der Halbleiterschalter 70 und 72 nicht möglich und es bildet sich ein Bremsmoment aus. Da die beiden anderen Stränge des Motors ungestört sind bleibt jedoch die nicht unterstützte Lenkwirkung erhalten.If the fault has occurred in a winding short circuit, for example in the winding phase 12, then a shutdown of the disturbance variable by opening the semiconductor switches 70 and 72 is not possible and it forms a braking torque. Since the other two strands of the engine are undisturbed, however, the unsupported steering effect is maintained.

Im erörterten Anwendungsfall als Antriebsmotor einer elektrischen Lenkhilfe in einem Kraftfahrzeug ist also sichergestellt, dass der Motor im Fehlerfall so beeinflusst werden kann, dass kein Bremmoment auf die Lenkung wirkt und zumindest der nicht durch eine Lenkhilfe unterstützte Lenkbetrieb gesichert ist. Andere Anwendungen von sicherheitskritischen Nebenantrieben in Kraftfahrzeugen sind beispielsweise die elektrische Bremse oder das elektrische Gaspedal, bei denen als Antriebsaggregat ebenfalls elektronisch kommutierbare Motoren mit Dauermagneten im Rotor vorteilhaft einsetzbar sind.In the application discussed as a drive motor of an electric power steering in a motor vehicle so it is ensured that the engine can be influenced in the event of a fault so that no Bremmoment acts on the steering and at least not backed by a steering assist steering operation is secured. Other applications of safety-critical auxiliary drives in motor vehicles are, for example, the electric brake or the electric accelerator pedal, in which electronically commutatable motors with permanent magnets in the rotor can also be advantageously used as the drive unit.

Die erfindungsgemäße Motorschaltung gemäß Figur 3 bietet somit die Möglichkeit, einen Fehlerstrom, welcher ein der vorgesehenen Antriebsrichtung entgegenwirkendes Moment erzeugt, abzuschalten. Die Vollbrückenschaltung bietet den besonderen Vorteil, dass sich jeder Strang separat ansteuern lässt, wodurch im Falle eines Fehlers in einer Endstufe das entstehende Bremsmoment über die beiden anderen Brückenzweige aufgehoben und ein Notlaufbetrieb ermöglicht werden kann. Ferner ist es bei der Vollbrückenschaltung auch möglich, einen Windungsschluss in einem Wicklungsstrang zu kompensieren. Ferner sind bei der Vollbrückenschaltung die Stromsignale dem entsprechenden Strang direkt zuordenbar, da jeder Strang separat gemessen wird, und die Kurvenform des Strangstromes kann ohne Mehraufwand für jeden Strang separat eingestellt werden, wodurch die Kompensationsmöglichkeit im Fehlerfall deutlich erhöht wird.The motor circuit according to the invention FIG. 3 thus offers the possibility of switching off a fault current which generates a moment counteracting the intended drive direction. The full bridge circuit has the particular advantage that each strand can be controlled separately, which can be canceled in the case of a fault in a final stage, the resulting braking torque on the other two bridge arms and emergency operation can be enabled. Furthermore, in the case of the full-bridge circuit, it is also possible to compensate for a turn-off in a winding strand. Further, in the full-bridge circuit, the current signals can be directly assigned to the corresponding string since each string is measured separately, and the waveform of the string current can be set separately for each string without overhead, thereby significantly increasing the possibility of compensation in the event of a fault.

Bei den Ausführungsbeispielen ist die Kommutierungsanordnung jeweils unter Verwendung von MOSFET-Schaltern als Halbleiterbauelementen beschrieben. Derartige MOSFET-Schalter eignen sich wegen ihrer niedrigen Verlustleistung und hohen Störungssicherheit, aber auch wegen der unkritischen Versorgungsspannung und der guten Schaltungs-Integrierbarkeit neben der Verwendung bei der Kommutierungssteuerung auch besonders gut für die Auftrennung des Sternpunktes.In the exemplary embodiments, the commutation arrangement is described in each case using MOSFET switches as semiconductor components. Such MOSFET switches are due to their low power loss and high interference immunity, but also because of the uncritical supply voltage and the good circuit integrity in addition to the use in the commutation also very good for the separation of the neutral point.

Claims (7)

  1. Electronically commutatable motor for a safety-critical auxiliary drive in a motor vehicle, having a three-phase field winding (12, 14, 16) in the stator, which field winding, in order to generate a torque for a permanent-magnet rotor (10), can be connected to a DC voltage source (38) via a commutation arrangement, which is fitted with semiconductor switches (46, 48, 50, 52, 54, 56, 58, 60, 62, 64, 66, 68), and a motor control system (36), wherein the phases (12, 14, 16) of the field winding can be individually connected to the DC voltage source (38) via a full-bridge circuit comprising the semiconductor switches (46, 48, 50, 52, 54, 56, 58, 60, 62, 64, 66, 68), characterized by additional semiconductor switches (70, 72, 74, 76, 78, 80) for disconnecting the phases (12, 14, 16) of the field winding in the case of a short between the turns and/or a fault in the semiconductor switches (46, 48, 50, 52, 54, 56, 58, 60, 62, 64, 66, 68) of the commutation arrangement, in order to suppress a braking torque which is generated by the motor or to at least partially compensate said braking torque.
  2. Electronically commutatable motor according to Claim 1, characterized in that in each case two additional semiconductor switches (70, 72, 74, 76, 78, 80) with opposite conducting directions are arranged in each bridge arm on either side of each phase (12, 14, 16) of the field winding.
  3. Electronically commutatable motor according to one of Claims 1 and 2, characterized in that the semiconductor switches (46, 48, 50, 52, 54, 56, 58, 60, 62, 64, 66, 68) of the commutation arrangement and/or the additional semiconductor switches (70, 72, 74, 76, 78, 80) are in the form of MOSFET switches.
  4. Electronically commutatable motor according to Claim 1, characterized in that the phases (12, 14, 16) of the field winding and/or the bridge arms of the commutation arrangement can be pyrotechnically disconnected.
  5. Electronically commutatable motor according to Claim 1, characterized in that the phase currents (I1, I2, I3) flowing through the phases (12, 14, 16) of the field winding are controlled by pulse-width modulation.
  6. Electronically commutatable motor according to Claim 5, characterized in that active freewheeling is generated in the current-flow pauses of the phase currents (I1, I2, I3) by switching on a further semiconductor switch (58, 60, 62, 64, 66, 68) of the commutation arrangement in a pulsed manner.
  7. Electrical steering aid having an electronically commutatable motor according to one of Claims 1 to 6.
EP03739365A 2002-05-24 2003-02-27 Electronically commutable motor Expired - Lifetime EP1511666B1 (en)

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US20040257018A1 (en) 2004-12-23
JP4373327B2 (en) 2009-11-25
DE50313068D1 (en) 2010-10-21
DE10223139A1 (en) 2003-12-11
WO2003099632A1 (en) 2003-12-04
US7019479B2 (en) 2006-03-28
JP2005527174A (en) 2005-09-08
CN100387475C (en) 2008-05-14
CN1564765A (en) 2005-01-12

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